HandDescriptor Class Reference

Finds the main characteristics of the hand from a binary image containing a hand silouette. More...

#include <HandDescriptor.h>

Collaboration diagram for HandDescriptor:

List of all members.

Public Member Functions
	HandDescriptor ()
	Default constructor.
void	operator() (const cv::Mat &skinMask)
	Update the internal characteristics stored.
void	update (const cv::Mat &skinMask)
	Update the internal characteristics stored.
bool	handFound ()
	Returns true if a hand was found.
double	getHandAngle ()
	Returns the angle of the box enclosing the hand.
double	getHandAnglePredicted ()
	Returns the angle of the box enclosing the hand predicted by the Kalman filter.
double	getHandAngleEstimated ()
	Returns the angle of the box enclosing the hand estimated by the Kalman filter after updating the prediction with the actual value.
cv::Point	getCenterHand ()
	Returns the position of the center of the hand.
cv::Point	getCenterHandPredicted ()
	Returns the position of the center of the hand predicted by the Kalman filter.
cv::Point	getCenterHandEstimated ()
	Returns the position of the center of the hand estimated by the Kalman filter after updating the prediction with the actual value.
std::vector< std::vector < cv::Point > >	getContours ()
	Returns the contours of the detected hand.
cv::Rect	getBoundingBox ()
	Returns the bounding box enclosing the detected hand.
int	getGesture ()
	Returns the detected gesture.
int	getNumFingers ()
	Returns the number of fingers found.
void	plotBoundingRectangle (const cv::Mat &src, cv::Mat &dst, bool rotated=true)
	Plots the rectangle around the hand on display.
void	plotContours (const cv::Mat &src, cv::Mat &dst)
	Plot the contours on display.
void	plotCenter (const cv::Mat &src, cv::Mat &dst, bool show_corrected=true, bool show_actual=true, bool show_predicted=true)
	Plot the center of the hand on display.
void	angleControl (bool show_corrected=true, bool show_actual=true, bool show_predicted=true)
	Prints the angle gauge on a separate window.
void	plotMaxInscribedCircle (cv::Mat &src, cv::Mat &dst, bool show_center=true, cv::Scalar color=cv::Scalar(0, 255, 0), int thickness=1)
	Prints the maximum inscribed circle:
void	plotMinEnclosingCircle (cv::Mat &src, cv::Mat &dst, bool show_center=true, cv::Scalar color=cv::Scalar(255, 0, 255), int thickness=1)
	Prints the minimum enclosing circle:
void	plotComplexHull (cv::Mat &src, cv::Mat &dst, bool show_points=false, cv::Scalar color=cv::Scalar(0, 255, 255), int thickness=1)
	Plot the hand complex hull:
void	plotConvexityDefects (cv::Mat &src, cv::Mat &dst, bool draw_points=true)
	Plot convexity defects:
void	plotFingertips (cv::Mat &src, cv::Mat &dst, bool draw_lines=true, cv::Scalar color=cv::Scalar(255, 0, 0), int thickness=2)
	Plot fingertip markers:
void	plotHandInterface (cv::Mat &src, cv::Mat &dst)
	Plot hand interface:
Private Member Functions
void	contourExtraction (const cv::Mat &skinMask)
	Extract the hand contours from a binary image containing hand candidates.
void	boundingBoxExtraction ()
	Extracts the bounding boxes around the hand contour ( rectangle and rotated rectange)
void	handPalmExtraction ()
	Finds the maximum inscribed circle of the hand contour, which describes the hand palm.
void	ROIExtraction (const cv::Mat &src)
	Extracts a mask of the region of interest in which the hand is contained.
void	defectsExtraction ()
	Finds the convexity defects of the hand convex hull, that are used to find the fingers.
void	fingerExtraction ()
	Extracts the number, position and orientation of the fingers.
void	angleExtraction ()
	Extracts the hand angle from its bounding box and a Kalman Filter.
void	centerExtraction ()
	Extracts the hand center and applies a Kalman Filter for improved stability.
void	gestureExtraction ()
	Guesses the hand gesture using the hand characteristic data previouly found.
Private Attributes
bool	_hand_found
	Whether a hand was found or not:
double	_hand_angle
	Contains the actual angle of the box enclosing the hand.
double	_hand_angle_prediction
	Contains the predicted angle by the kalman filter.
double	_hand_angle_estimation
	Contains the corrected estimation by the kalman filter.
cv::Point	_hand_center
	Actual center of the hand.
cv::Point	_hand_center_prediction
	Predicted center of the hand by the kalman filter.
cv::Point	_hand_center_estimation
	Corrected estimation by the kalman filter.
std::vector< std::vector < cv::Point > >	_hand_contour
	Contours of the candidates to be a hand.
cv::RotatedRect	_hand_rotated_bounding_box
	Minimum RotatedRect enclosing the hand.
cv::Rect	_hand_bounding_box
	Minimum Rect enclosing the hand.
int	_hand_gesture
	Last detected gesture, coded as an integer (see constants for correspondence between integer and gesture)
int	_hand_num_fingers
	Number of fingers (visible)
std::vector< cv::Point >	_hand_fingertips
	Position of the fingertips.
std::vector< cv::Point >	_hand_finger_line_origin
	Position of the finger line origin points.
double	_max_circle_inscribed_radius
	Radius of the max. inscribed circle.
cv::Point	_max_circle_incribed_center
	Center of the max. incribed circle.
float	_min_enclosing_circle_radius
	Radius of the min. enclosing circle.
cv::Point2f	_min_enclosing_circle_center
	Center of the min. enclosing circle.
std::vector< cv::Point >	_hand_hull
	Complex hull of the hand.
std::vector< ConvexityDefect >	_hand_convexity_defects
	Convexity defects of the hand.
cv::Mat	_hand_ROI
	Mask containing ROI of the hand.
cv::KalmanFilter	kalmanFilterAngle
	Kalman filter for the angle of the box enclosing the hand.
cv::KalmanFilter	kalmanFilterCenter
	Kalman filter for the center of the hand.

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Detailed Description

Finds the main characteristics of the hand from a binary image containing a hand silouette.

To look for or to update the stored characteristics of the hand and its gesture, the update member or the operator () can be called. One can then know if a hand was found using handFound member, prior to retrieving any of the hand characteristics / gesture.

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The documentation for this class was generated from the following files:

• HandDescriptor.h
• HandDescriptor.cpp